OKMC Aug11 * SG166 * Dive index * Mission links * Dive 29 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  166 HD_B  0.010078 PITCH_ADJ_GAIN  0.015 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  29 HEADING  -1 ROLL_MIN  197 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3786 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  5 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1500 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1850 ALTIM_FREQUENCY  13
D_ABORT  1030 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_BOOST  3 SM_CC  450 ROLL_TIMEOUT  15 XPDR_VALID  3
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  39 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  43 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  2.7
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  0 VBD_MIN  455 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  53
T_DIVE  280 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  320 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  3 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24414.184 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  147 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  109 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  250 PITCH_MIN  160 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3938 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2745 PHONE_SUPPLY  2 SEABIRD_T_G  0.004315557
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -27.509327 SEABIRD_T_H  0.00063223497
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001160501 SEABIRD_T_I  2.3993638e-05
MASS  51906 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.5696888e-06
NAV_MODE  1 PITCH_GAIN  28 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.9842854
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1210135
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.0013500623
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00018873326

Pre-dive calculations and measurements:
GPS1  090811,123026,2224.527,12124.710,39,99.0,58,-2.9 TGT_NAME  N1
_CALLS  2 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.55 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  090811,124110,2224.794,12124.843,33,3.3,52,-2.9 MHEAD_RNG_PITCHd_Wd  4.3,71889,-16.1,-11.786
SPEED_LIMITS  0.204,0.345 D_GRID  2150

Post-dive calculations and measurements:
FINISH  1.0,1.009813 _10V_AH  10.3,6.129
SM_CCo  14751,0.00,0.000,0,0,487,587.98 FG_AHR_24Vo  0.000
SM_GC  1.82,7.78,0.00,0.00,0.045,0.000,0.000,135,1497,487,-8.06,-0.08,587.98,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2216.01,12123.01,090811,121240 MEM  324412
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  76737,1343
HUMID  34.52 CAP_FILE_SIZE  169213,0
INTERNAL_PRESSURE  9.32135 CFSIZE  260165632,144670720
TCM_TEMP  24.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  106 GPS  090811,164920,2229.229,12126.244,60,2.3,79,-2.9
_24V_AH  23.3,9.204

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22236122.27 SBE_CT91924514.12
Roll_motor14263210.82 AA38301376331058.12
VBD_pump_during_apogee708144823907.74 WL_BB2F14991053668.82
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init56103134.95 nil000.00
Iridium_during_connect70160263.92 nil000.00
Iridium_during_xfer2482231291.67 nil000.00
Transponder_ping26420259.33 nil000.00
GUMSTIX_24V000.00
GPS545027.96
TT8317219646.97
LPSleep76092171.65
TT8_Active71419145.75
TT8_Sampling3457391417.28
TT8_CF842345199.82
TT8_Kalman000.00
Analog_circuits206712255.59
GPS_charging000.00
Compass302315467.05
RAFOS000.00
Transponder050.03

Guidance and control:
st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -0.87 -243.3 0.0 0.0 0 126 0.00 0.00 -106.65 0.000 2 0.000 0.000 133 1495 2993 0 0 0 0 0 0
129 -0.87 -243.3 5.0 -6.7 15 166 9.18 2.00 -17.05 0.000 4 0.236 0.055 2459 198 3879 0 0 0 0 0 0
404 -0.57 -243.3 117.8 -36.8 65 412 0.35 2.00 0.00 0.000 6 0.165 0.034 2553 1509 3881 0 0 0 0 0 0
726 -0.49 -243.3 177.1 -17.4 126 735 0.12 2.03 0.00 0.000 4 0.174 0.043 2592 203 3883 0 0 0 0 0 0
850 -0.54 -243.3 192.9 -12.0 148 858 0.00 1.95 0.00 0.000 6 0.000 0.034 2581 1496 3883 0 0 0 0 0 0
1172 -0.58 -243.3 228.7 -9.5 209 1180 0.00 2.12 0.00 0.000 4 0.000 0.044 2568 2902 3882 0 0 0 0 0 0
1267 -0.64 -243.3 238.2 -10.1 226 1276 0.00 2.12 0.00 0.000 6 0.000 0.033 2570 1488 3882 0 0 0 0 0 0
1596 -0.67 -243.3 279.8 -11.3 265 1600 0.12 1.92 0.00 0.000 4 0.080 0.044 2492 205 3881 0 0 0 0 0 0
1642 -0.58 -243.3 287.6 -19.0 269 1647 0.25 1.92 0.00 0.000 6 0.148 0.035 2556 1503 3881 0 0 0 0 0 0
1968 -0.60 -243.3 334.5 -11.8 299 1972 0.00 2.10 0.00 0.000 4 0.000 0.047 2549 2904 3879 0 0 0 0 0 0
2012 -0.65 -243.3 339.1 -10.3 302 2019 0.00 2.10 0.00 0.000 6 0.000 0.034 2548 1487 3878 0 0 0 0 0 0
2338 -0.67 -243.3 373.7 -10.3 333 2339 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 1487 3877 0 0 0 0 0 0
2660 -0.70 -243.3 408.0 -10.6 363 2664 0.00 2.15 0.00 0.000 4 0.000 0.049 2540 2899 3874 0 0 0 0 0 0
2693 -0.74 -243.3 412.2 -10.8 365 2701 0.12 2.08 0.00 0.000 6 0.083 0.037 2471 1498 3874 0 0 0 0 0 0
3019 -0.64 -243.3 469.5 -16.7 396 3023 0.25 1.98 0.00 0.000 4 0.154 0.048 2550 198 3871 0 0 0 0 0 0
3150 -0.71 -243.3 480.6 -7.2 407 3154 0.00 1.92 0.00 0.000 6 0.000 0.039 2543 1495 3870 0 0 0 0 0 0
3482 -0.77 -243.3 508.1 -9.2 438 3487 0.12 2.15 0.00 0.000 4 0.084 0.052 2464 2902 3867 0 0 0 0 0 0
3544 -0.74 -243.3 516.6 -13.8 443 3549 0.15 2.08 0.00 0.000 6 0.161 0.039 2506 1505 3866 0 0 0 0 0 0
3869 -0.74 -243.3 557.1 -12.1 473 3873 0.00 2.12 0.00 0.000 4 0.000 0.054 2498 2902 3863 0 0 0 0 0 0
3910 -0.74 -243.3 562.3 -13.2 476 3914 0.00 2.10 0.00 0.000 6 0.000 0.041 2498 1495 3863 0 0 0 0 0 0
4244 -0.72 -243.3 609.9 -14.7 504 4247 0.00 1.98 0.00 0.000 4 0.000 0.054 2496 195 3860 0 0 0 0 0 0
4282 -0.72 -243.3 616.2 -15.8 505 4289 0.00 1.98 0.00 0.000 6 0.000 0.041 2487 1507 3859 0 0 0 0 0 0
4601 -0.70 -243.3 666.1 -15.3 521 4605 0.12 2.15 0.00 0.000 4 0.177 0.056 2512 2903 3857 0 0 0 0 0 0
4650 -0.75 -243.3 672.6 -11.3 523 4654 0.00 2.10 0.00 0.000 6 0.000 0.044 2512 1500 3857 0 0 0 0 0 0
4972 -0.77 -243.3 711.3 -11.8 539 4976 0.00 2.20 0.00 0.000 4 0.000 0.057 2502 2907 3854 0 0 0 0 0 0
5015 -0.80 -243.3 715.7 -10.8 541 5019 0.00 2.10 0.00 0.000 6 0.000 0.042 2502 1502 3854 0 0 0 0 0 0
5342 -0.80 -243.3 749.1 -9.7 557 5346 0.00 2.15 0.00 0.000 4 0.000 0.057 2491 2905 3851 0 0 0 0 0 0
5393 -0.83 -243.3 753.8 -9.1 559 5397 0.00 2.10 0.00 0.000 6 0.000 0.043 2491 1500 3851 0 0 0 0 0 0
5710 -0.83 -243.3 786.5 -10.3 574 5713 0.00 2.03 0.00 0.000 4 0.000 0.057 2491 195 3849 0 0 0 0 0 0
5759 -0.83 -243.3 791.9 -10.4 576 5764 0.00 2.00 0.00 0.000 6 0.000 0.043 2482 1496 3848 0 0 0 0 0 0
6089 -0.81 -243.3 826.3 -11.1 592 6093 0.00 2.17 0.00 0.000 4 0.000 0.057 2471 2914 3846 0 0 0 0 0 0
6175 -0.81 -243.3 836.1 -11.3 596 6179 0.00 2.15 0.00 0.000 6 0.000 0.044 2471 1493 3845 0 0 0 0 0 0
6504 -0.78 -243.3 881.7 -14.1 612 6505 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 1492 3843 0 0 0 0 0 0
6811 -0.75 -243.3 923.6 -13.2 627 6813 0.12 0.00 0.00 0.000 6 0.179 0.000 2504 1491 3842 0 0 0 0 0 0
7123 -0.77 -243.3 956.8 -11.0 642 7127 0.00 2.22 0.00 0.000 4 0.000 0.063 2496 2908 3839 0 0 0 0 0 0
7150 -0.80 -243.3 960.3 -11.0 643 7154 0.00 2.12 0.00 0.000 6 0.000 0.046 2496 1503 3839 0 0 0 0 0 0
7402 end dive: TARGET_DEPTH_EXCEEDED
state 7402 begin apogee
7408 -0.18 0.0 990.2 11.7 655 7611 0.57 0.00 198.10 1.448 6 0.133 0.000 2684 1853 2884 0 0 0 0 0 0
7612 end apogee: CONTROL_FINISHED_OK
state 7612 begin climb
7614 0.87 243.3 1000.3 0.0 664 7847 0.95 2.47 216.88 1.380 4 0.055 0.062 3033 3248 1890 0 0 0 0 0 0
7854 0.64 243.3 961.0 25.5 675 7859 0.35 2.33 0.00 0.000 6 0.195 0.045 2956 1846 1888 0 0 0 0 0 0
8177 0.50 243.3 898.3 19.1 691 8182 0.17 2.25 0.00 0.000 4 0.189 0.060 2905 3253 1883 0 0 0 0 0 0
8204 0.41 243.3 892.8 18.3 692 8210 0.12 2.20 0.00 0.000 6 0.192 0.043 2884 1837 1882 0 0 0 0 0 0
8523 0.40 248.7 854.5 11.6 707 8532 0.00 2.28 4.40 0.868 4 0.000 0.059 2877 3252 1870 0 0 0 0 0 0
8555 0.40 248.7 850.1 11.8 708 8560 0.00 2.20 0.00 0.000 6 0.000 0.042 2886 1852 1869 0 0 0 0 0 0
8880 0.41 278.4 815.5 10.8 724 8915 0.00 2.33 28.88 1.310 4 0.000 0.058 2886 3250 1748 0 0 0 0 0 0
8954 0.41 278.4 806.0 12.2 727 8958 0.00 2.20 0.00 0.000 6 0.000 0.040 2896 1837 1747 0 0 0 0 0 0
9278 0.39 278.4 767.0 12.0 743 9282 0.00 2.17 0.00 0.000 4 0.000 0.053 2906 445 1744 0 0 0 0 0 0
9327 0.39 278.4 760.5 12.1 745 9332 0.12 2.17 0.00 0.000 6 0.164 0.041 2874 1866 1743 0 0 0 0 0 0
9651 0.51 366.4 730.3 8.9 761 9739 0.12 2.30 79.38 1.278 4 0.092 0.056 2931 3250 1388 0 0 0 0 0 0
9774 0.47 366.4 710.3 18.1 766 9779 0.17 2.20 0.00 0.000 6 0.174 0.039 2898 1853 1388 0 0 0 0 0 0
10091 0.47 366.4 660.8 17.1 781 10095 0.00 2.20 0.00 0.000 4 0.000 0.052 2906 443 1384 0 0 0 0 0 0
10139 0.49 366.4 652.9 16.3 783 10143 0.00 2.20 0.00 0.000 6 0.000 0.041 2905 1854 1382 0 0 0 0 0 0
10465 0.49 366.4 604.4 13.9 799 10469 0.00 2.17 0.00 0.000 4 0.000 0.057 2905 3264 1382 0 0 0 0 0 0
10534 0.54 366.4 594.7 13.0 803 10541 0.00 2.15 0.00 0.000 6 0.000 0.041 2913 1849 1382 0 0 0 0 0 0
10859 0.52 366.4 549.3 14.9 834 10863 0.00 2.15 0.00 0.000 4 0.000 0.053 2924 442 1382 0 0 0 0 0 0
10879 0.50 366.4 546.7 14.2 835 10883 0.00 2.15 0.00 0.000 6 0.000 0.041 2924 1851 1380 0 0 0 0 0 0
11210 0.46 366.4 501.2 14.7 866 11214 0.12 2.17 0.00 0.000 4 0.180 0.057 2882 3262 1380 0 0 0 0 0 0
11268 0.56 396.8 494.3 10.8 871 11303 0.10 2.12 26.02 1.106 6 0.101 0.040 2948 1846 1265 0 0 0 0 0 0
11622 0.49 396.8 432.5 15.8 904 11624 0.17 0.00 0.00 0.000 6 0.168 0.000 2902 1846 1263 0 0 0 0 0 0
11939 0.54 396.8 394.6 12.4 934 11943 0.00 2.15 0.00 0.000 4 0.000 0.050 2911 445 1262 0 0 0 0 0 0
11960 0.58 396.8 392.4 12.2 935 11964 0.00 2.15 0.00 0.000 6 0.000 0.039 2910 1863 1262 0 0 0 0 0 0
12285 0.61 396.8 348.9 12.4 965 12289 0.00 2.20 0.00 0.000 4 0.000 0.050 2920 444 1262 0 0 0 0 0 0
12311 0.64 398.0 346.1 11.7 967 12315 0.00 2.12 0.00 0.000 6 0.000 0.040 2920 1851 1261 0 0 0 0 0 0
12637 0.78 486.8 308.2 8.9 997 12722 0.20 2.33 75.20 0.959 4 0.070 0.057 3013 3259 897 0 0 0 0 0 0
12758 0.68 486.8 281.7 25.8 1007 12763 0.20 2.20 0.00 0.000 6 0.168 0.037 2970 1846 895 0 0 0 0 0 0
13085 0.66 486.8 217.9 18.4 1052 13093 0.00 2.22 0.00 0.000 4 0.000 0.053 2966 3244 894 0 0 0 0 0 0
13137 0.67 486.8 208.3 16.7 1061 13145 0.00 2.17 0.00 0.000 6 0.000 0.037 2974 1846 894 0 0 0 0 0 0
13461 0.67 486.8 159.9 12.6 1122 13469 0.00 2.20 0.00 0.000 4 0.000 0.049 2985 437 893 0 0 0 0 0 0
13492 0.67 486.8 155.9 13.1 1127 13500 0.00 2.17 0.00 0.000 6 0.000 0.037 2985 1851 893 0 0 0 0 0 0
13815 0.67 486.8 110.8 14.6 1188 13823 0.00 2.17 0.00 0.000 4 0.000 0.051 2985 3255 892 0 0 0 0 0 0
13905 0.71 486.8 98.0 14.2 1204 13913 0.00 2.15 0.00 0.000 6 0.000 0.036 2994 1844 892 0 0 0 0 0 0
14228 0.90 585.1 62.1 8.6 1265 14316 0.10 2.22 79.70 0.718 4 0.103 0.047 3067 447 494 0 0 0 0 0 0
14356 0.95 585.1 45.2 13.2 1284 14364 0.00 2.20 0.00 0.000 6 0.000 0.034 3068 1851 490 0 0 0 0 0 0
14649 end climb: SURFACE_DEPTH_REACHED
state 14649 begin surface coast
14672 end surface coast: CONTROL_FINISHED_OK
state 14672 begin surface